Enhancement of the Tracking Performance for Robot Manipulator by Using the Feed-forward Scheme and Reasonable Switching Mechanism

Robot manipulator has become an exciting topic for many researchers during several decades. They have investigated the advanced algorithms such as sliding mode control, neural network, or genetic scheme to implement these developments. However, they lacked the integration of these algorithms to explore many potential expansions. Simultaneously, the complicated system requires a lot of computational costs, which is not always supported. Therefore, this paper presents a novel design of switching mechanisms to control the robot manipulator. This investigation is expected to achieve superior performance by flexibly adjusting various strategies for better selection. The Proportional-Integral-Derivative (PID) scheme is well-known, easy to implement, and ensures rapid computation while it might not have much control effect. The advanced interval type-2 fuzzy sliding mode control properly deals with nonlinear factors and disturbances. Consequently, the PID scheme is switched when the tracking error is less than the threshold or is far from the target. Otherwise, the interval type-2 fuzzy sliding mode control scheme is activated to cope with unknown factors. The main contributions of this paper are (i) the recommendation of a suitable switching mechanism to drive the robot manipulator, (ii) the successful integration of the interval type-2 fuzzy sliding mode control to track the desired trajectory, and (iii) the launching of several tests to validate the proposed controller with robot model. From these achievements, it would be stated that the proposed approach is effective in tracking performance, robust in disturbance-rejection, and feasible in practical implementation

Chen Yung-Fa, Zhongguo gongchan geming qishi nian

Chen Yung-Fa, the author of an authoritative study of the Chinese communist revolution, Making Revolution , provides us here with an excellent overview, covering seventy years of that revolution, from the early beginnings of the Chinese Communist Party (CCP) in the 1920s until the 1990s. In Making Revolution, he showed that during the Sino-Japanese war the revolution was far from being the outcome of spontaneous mass movements. In fact, it was brought about by localised political activity aim..

Chen Yung-Fa, Zhongguo gongchan geming qishi nian

L’auteur de l’ouvrage de référence Making Revolution , nous livre ici une synthèse magistrale de soixante-dix ans d’histoire de la révolution communiste chinoise, de la fondation du Parti communiste chinois (PCC) dans les années 1920, aux années 1990. Dans Making Revolution, Chen Yung-Fa avait montré que, pendant la guerre sino-japonaise, la construction de l’Etat-Parti fut centrale : la révolution, loin d’être issue de mouvements de masse spontanés, fut le résultat d’actions politiques local..

A Retrospective Cohort Study of Kawasaki Disease in Hue Central Hospital for 10 Years (2010-2019)

INTRODUCTION: Kawasaki disease (KD) is an acute self-limited systemic vasculitis of unknown etiology which affects mainly children <5 years of age. If the disease is left untreated, it can lead to serious complications such as inflammation of the blood vessels. AIM: We aim to evaluate the clinical and laboratory findings and response to therapy of KD at Hue Central Hospital. METHODS: This is a retrospective study of patients with KD at Pediatric Center of Hue Central Hospital between January 2010 and December 2019. Clinical and laboratory examinations as well as the echocardiograms finding were analyzed. RESULTS: All patients were under 5 years old, in which boys were more than girls. Fever lasting over 5 days, changing in the mouth mucosa, and peripheral extremities were seen in all patients. About 73.2% had bilateral conjunctivitis and 78.0% had rash. About 42.3% of patients had cervical lymphadenopathy. Laboratory findings were noted with 84.5% of patients had hyperleukocytosis (>12,000/ mm3), 76.2% of patients had high serum C-reactive protein (CRP) levels (>100 mg/dl), 56% of patients had erythrocyte sediment rate >60 mm in the 1st h, and 34.5% of patients had thrombocytosis (platelet count >500,000/mm3) at the time of diagnosis. About 26.2% of patients had coronary artery lesions. Most patients (84.4%) had good outcome since the first dose of gamma-globulin and 13% of patients needed the second dose. There was a significant correlation between coronary artery abnormalities and no or late treatment of gamma-globulin. CONCLUSION: KD was very common in children under 5 years old with the high rate of coronary artery lesion. Treatment with gamma-globulin on or before 10 days of fever resulted in better coronary outcomes and decreased the total length of time of clinical symptoms

On the solutions of universal differential equation by noncommutative Picard-Vessiot theory

Basing on Picard-Vessiot theory of noncommutative differential equations and algebraic combinatorics on noncommutative formal series with holomorphic coefficients, various recursive constructions of sequences of grouplike series converging to solutions of universal differential equation are proposed. Basing on monoidal factorizations, these constructions intensively use diagonal series and various pairs of bases in duality, in concatenation-shuffle bialgebra and in a Loday's generalized bialgebra. As applications, the unique solution, satisfying asymptotic conditions, of Knizhnik-Zamolodchikov equations is provided by d\'evissage

On The Global Renormalization and Regularization of Several Complex Variable Zeta Functions by Computer

This review concerns the resolution of a special case of Knizhnik-Zamolodchikov equations ($KZ_3$) using our recent results on combinatorial aspects of zeta functions on several variables and software on noncommutative symbolic computations. In particular, we describe the actual solution of $(KZ_3)$ leading to the unique noncommutative series, $\Phi_{KZ}$, so-called Drinfel'd associator (or Drinfel'd series). Non-trivial expressions for series with rational coefficients, satisfying the same properties with $\Phi_{KZ}$, are also explicitly provided due to the algebraic structure and the singularity analysis of the polylogarithms and harmonic sums

Families of eulerian functions involved in regularization of divergent polyzetas

Extending the Eulerian functions, we study their relationship with zeta function of several variables. In particular, starting with Weierstrass factorization theorem (and Newton-Girard identity) for the complex Gamma function, we are interested in the ratios of $\zeta(2k)/\pi^{2k}$ and their multiindexed generalization, we will obtain an analogue situation and draw some consequences about a structure of the algebra of polyzetas values, by means of some combinatorics of noncommutative rational series. The same combinatorial frameworks also allow to study the independence of a family of eulerian functions.Comment: preprin

Level of Determinants Impact on Buyer’s Purchasing Intention in Motor Liability Insurance: Case of Vietnam

Motor liability insurance has been included in the compulsory insurance category that each vehicle owner of every type of motor vehicle must participate in in Vietnam. However, in fact, the participation in this type of insurance is not popular and not strictly managed. This paper presents an approach to modeling and analyzing the possible determinants that may affect the intention to buy motor liability insurance for motor vehicle owners in the North of Vietnam. The target audience of this study is motorcycle owners. Based on the theories of buying intention, buying behavior and the specific characteristics of this insurance, this study has proposed a model with 4 factors influencing intention to participate in the insurance: Attitudes towards risk and insurance, subjective standards, Insurance Perceptions, and Product Accessibility. Taken together, these factors model a consumer's tendency toward insurance intentions for motorbike owners. The results show that all of the above factors have influence on the intention of motorcycle owners to participate in insurance. Keywords: Motor liability insurance, Buying intention, Purchase decision DOI: 10.7176/EJBM/13-8-11 Publication date: April 30th 202

Ureaplasma urealyticum and Mycoplasma genitalium detection and sperm quality: A cross-sectional study in Vietnam

Background: Ureaplasma urealyticum (U. urealyticum) and Mycoplasma genitalium (M. genitalium) may colonize the male genital tract. However, the negative effects of these bacteria on overall sperm quality, including semen pH, sperm concentration, motility, morphology, and total sperm count remain unclear. Objective: This study aimed to determine the presence of genital U. urealyticum and M. genitalium in semen and evaluate the effect of these organisms on sperm quality. Materials and Methods: A cross-sectional study was conducted on 380 men from infertile couples at a tertiary university hospital from July 2017 to June 2018. Semen quality was analyzed according to the World Health Organization 2010 standard, and U. urealyticum and M. genitalium were detected in the semen samples using polymerase chain reaction. Results: 338 men (88.9%) presented with at least one abnormal semen parameter. The detection rates of U. urealyticum and M. genitalium were 16.05% and 0.79%, respectively. There was no significant difference between the Ureaplasma-positive group and the Ureaplasma-negative group in terms of sperm characteristics. Sperm motility and sperm vitality in the Mycoplasma-positive group were much lower than those in the Mycoplasma-negative group (p = 0.02 and p < 0.001, respectively). Conclusion: The presence of U. urealyticum in the semen of infertile men did not affect the sperm characteristics. Although the positive rate of M. genitalium was low, colonization by these bacteria was more likely to negatively affect sperm quality. Key words: Ureaplasma urealyticum, Mycoplasma genitalium, Infertility, Spermatozoa